Instructions to use autmoate/eo1-put-mug with libraries, inference providers, notebooks, and local apps. Follow these links to get started.
- Libraries
- LeRobot
How to use autmoate/eo1-put-mug with LeRobot:
- Notebooks
- Google Colab
- Kaggle
| { | |
| "type": "eo1", | |
| "n_obs_steps": 1, | |
| "input_features": { | |
| "observation.state": { | |
| "type": "STATE", | |
| "shape": [ | |
| 6 | |
| ] | |
| }, | |
| "observation.images.top": { | |
| "type": "VISUAL", | |
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| 3, | |
| 720, | |
| 1280 | |
| ] | |
| }, | |
| "observation.images.side": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 720, | |
| 1280 | |
| ] | |
| }, | |
| "observation.images.wrist": { | |
| "type": "VISUAL", | |
| "shape": [ | |
| 3, | |
| 720, | |
| 1280 | |
| ] | |
| } | |
| }, | |
| "output_features": { | |
| "action": { | |
| "type": "ACTION", | |
| "shape": [ | |
| 6 | |
| ] | |
| } | |
| }, | |
| "device": "cuda", | |
| "use_amp": false, | |
| "use_peft": false, | |
| "push_to_hub": true, | |
| "repo_id": "autmoate/eo1-put-mug", | |
| "private": null, | |
| "tags": null, | |
| "license": null, | |
| "pretrained_path": null, | |
| "vlm_base": "Qwen/Qwen2.5-VL-3B-Instruct", | |
| "vlm_config": { | |
| "transformers_version": "5.5.4", | |
| "architectures": [ | |
| "Qwen2_5_VLForConditionalGeneration" | |
| ], | |
| "output_hidden_states": false, | |
| "return_dict": true, | |
| "dtype": "bfloat16", | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "id2label": { | |
| "0": "LABEL_0", | |
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| "text_config": { | |
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| "output_hidden_states": false, | |
| "return_dict": true, | |
| "dtype": "bfloat16", | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
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| "vocab_size": 151936, | |
| "hidden_size": 2048, | |
| "intermediate_size": 11008, | |
| "num_hidden_layers": 36, | |
| "num_attention_heads": 16, | |
| "num_key_value_heads": 2, | |
| "hidden_act": "silu", | |
| "max_position_embeddings": 128000, | |
| "initializer_range": 0.02, | |
| "rms_norm_eps": 1e-06, | |
| "use_cache": true, | |
| "use_sliding_window": false, | |
| "sliding_window": null, | |
| "max_window_layers": 70, | |
| "layer_types": [ | |
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| "attention_dropout": 0.0, | |
| "rope_parameters": { | |
| "type": "mrope", | |
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| "rope_theta": 1000000.0, | |
| "rope_type": "default" | |
| }, | |
| "bos_token_id": 151643, | |
| "eos_token_id": 151645, | |
| "pad_token_id": null, | |
| "_name_or_path": "", | |
| "model_type": "qwen2_5_vl_text", | |
| "output_attentions": false | |
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| "vision_config": { | |
| "architectures": null, | |
| "output_hidden_states": false, | |
| "return_dict": true, | |
| "dtype": null, | |
| "chunk_size_feed_forward": 0, | |
| "is_encoder_decoder": false, | |
| "id2label": { | |
| "0": "LABEL_0", | |
| "1": "LABEL_1" | |
| }, | |
| "label2id": { | |
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| "LABEL_1": 1 | |
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| "problem_type": null, | |
| "depth": 32, | |
| "hidden_size": 1280, | |
| "hidden_act": "silu", | |
| "intermediate_size": 3420, | |
| "num_heads": 16, | |
| "in_channels": 3, | |
| "patch_size": 14, | |
| "spatial_merge_size": 2, | |
| "temporal_patch_size": 2, | |
| "tokens_per_second": 2, | |
| "window_size": 112, | |
| "out_hidden_size": 2048, | |
| "fullatt_block_indexes": [ | |
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| "initializer_range": 0.02, | |
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| "model_type": "qwen2_5_vl", | |
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| "video_token_id": 151656, | |
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| "tie_word_embeddings": true, | |
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| "model_type": "qwen2_5_vl", | |
| "output_attentions": false | |
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| "image_min_pixels": 50176, | |
| "image_max_pixels": 50176, | |
| "use_fast_processor": true, | |
| "chunk_size": 8, | |
| "n_action_steps": 8, | |
| "max_state_dim": 32, | |
| "max_action_dim": 32, | |
| "num_denoise_steps": 10, | |
| "num_action_layers": 2, | |
| "action_act": "linear", | |
| "time_sampling_beta_alpha": 1.5, | |
| "time_sampling_beta_beta": 1.0, | |
| "time_sampling_scale": 0.999, | |
| "time_sampling_offset": 0.001, | |
| "min_period": 0.004, | |
| "max_period": 4.0, | |
| "supervise_padding_action_dims": true, | |
| "supervise_padding_actions": true, | |
| "dtype": "bfloat16", | |
| "force_fp32_autocast": true, | |
| "attn_implementation": "sdpa", | |
| "gradient_checkpointing": true, | |
| "normalization_mapping": { | |
| "VISUAL": "IDENTITY", | |
| "STATE": "MEAN_STD", | |
| "ACTION": "MEAN_STD" | |
| }, | |
| "optimizer_lr": 0.0001, | |
| "optimizer_betas": [ | |
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| 0.999 | |
| ], | |
| "optimizer_eps": 1e-08, | |
| "optimizer_weight_decay": 0.1, | |
| "optimizer_grad_clip_norm": 1.0, | |
| "scheduler_warmup_steps": 900, | |
| "scheduler_decay_steps": 30000, | |
| "scheduler_decay_lr": 0.0 | |
| } |